#pragma once
#include <opencv2/opencv.hpp>
#include <opencv2/highgui/highgui_c.h>
#include <iostream>

using std::cout;
using std::endl;
using std::vector;

//击打板点类
class armorPoint {
public:
	cv::Point2f p;
	double distance;
};

//上一帧的信息类
class PreviousFrameInfo {
public:
	vector<cv::Point2f> previousFramePoints;
	std::chrono::duration<double> elapsedTime;
	bool firstFrame = true;
    double dt;
};

class TargetInfo{
public:
    vector<cv::Point2f> target_points_;
    double target_speed_;
    double radius_;
    cv::Point2f centor_;
};


void drawRotatedRect(cv::Mat image, const cv::RotatedRect& rect, const cv::Scalar& color, int thickness);

double distance(cv::Point a, cv::Point b);

TargetInfo findTarget(cv::Mat rawImages, PreviousFrameInfo & previousFrameInfo, cv::Mat mask);